CN111309038A - Hybrid execution mechanism configuration optimization method based on TU cooperative game manipulation law - Google Patents

Hybrid execution mechanism configuration optimization method based on TU cooperative game manipulation law Download PDF

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CN111309038A
CN111309038A CN202010106372.8A CN202010106372A CN111309038A CN 111309038 A CN111309038 A CN 111309038A CN 202010106372 A CN202010106372 A CN 202010106372A CN 111309038 A CN111309038 A CN 111309038A
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CN111309038B (en
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吴云华
郑墨泓
何梦婕
陈志明
华冰
朱翼
许心怡
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Nanjing University of Aeronautics and Astronautics
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Abstract

The invention discloses a hybrid executing mechanism configuration optimization method based on TU cooperative game manipulation law, which comprises the following steps: selecting the configuration and the manipulation law of a hybrid execution mechanism CMG + RW; determining the CMG maximum frame angular velocity and the RW maximum angular acceleration; acquiring a control torque requirement according to a spacecraft attitude maneuver task requirement, and acquiring a maximum control torque; judging the maximum control moment condition, and matching the angular momentum of the CMG rotor with the rotational inertia of RW; and selecting a hybrid actuating mechanism according to the matched magnitude of the angular momentum of the single CMG rotor and the rotational inertia of the single RW. The hybrid actuator is optimized in configuration according to specific design requirements for the first time, so that the hybrid actuator can output control torque without error, and the mass, volume and energy consumption of the hybrid actuator are reduced as much as possible, thereby being beneficial to the miniaturization and light weight of a spacecraft and increasing the satellite payload.

Description

Hybrid execution mechanism configuration optimization method based on TU cooperative game manipulation law
Technical Field
The invention relates to a satellite attitude control technology, in particular to a hybrid actuator configuration optimization method based on a TU cooperative game manipulation law.
Background
The agility of spacecraft attitude maneuver needs an attitude Control actuating mechanism to guarantee, namely the actuating mechanism needs to output large torque with high precision, a hybrid actuating mechanism CMG + RW formed by combining a Control Moment Gyro (CMG) and a Reaction flywheel (RW) can meet the requirement, and the performance of the hybrid actuating mechanism is far superior to that of a hybrid actuating mechanism formed by combining other actuating mechanisms. If the control torque required by different tasks is different, the sizes of the configured hybrid execution mechanisms CMG + RW are different; if the configuration of the hybrid actuating mechanism CMG + RW is insufficient, the design requirement cannot be met, so that the error of the output torque is large; the hybrid execution mechanism CMG + RW is configured too large, and although the hybrid execution mechanism CMG + RW can meet design requirements, the hybrid execution mechanism CMG + RW also has large satellite mass and volume, and energy consumption is increased along with the large satellite mass and volume, so that satellite resources are wasted, and the increase of payload is not facilitated. Therefore, the hybrid actuator CMG + RW needs to be optimized in configuration so that the hybrid actuator CMG + RW can satisfy the design requirements while having the smallest possible mass and volume.
Aiming at the hybrid executing mechanism CMG + RW, most of optimization aims at the design on the operating law layer, for example, the operating laws of the hybrid executing mechanism are designed on the basis of the cooperative game theory and the TU cooperative game theory, the angular momentum paths of the hybrid executing mechanism CMG + RW are optimized by minimizing the angular velocity and the angular acceleration of the CMG frame, the error-free output torque is ensured, the angular momentum is managed, and the energy consumption is reduced. However, the premise that the control law of all the hybrid actuators guarantees no error of the output torque is that the configuration of the hybrid actuators is matched with the design requirement, namely, the design on the control law level is different from the optimization on the configuration level, and the design of the control law cannot really guarantee the accuracy of the output torque.
However, no optimization of the configuration of the hybrid actuator CMG + RW has been investigated. Similarly, for example, a new RW configuration is designed for a single-shaft quick maneuvering task, and the installation included angle of the configuration is optimized, so that the problem that the RW capacity is not fully utilized is solved. In addition, the positions of the gyros mounted on the flexible bodies are designed through finite element modeling so as to inhibit the rapid vibration of the flexible bodies. And judging the judgment index of the combination characteristic of each actuating mechanism and each sensor according to the controllability index and the visibility index, and selecting a configuration node according to the index. And moreover, the optimization operation of the motor is completed by designing the internal structure of the flywheel so as to realize the multi-target collaborative optimization of the axial split-phase magnetic suspension switched reluctance flywheel motor. None of the above studies relate to hybrid actuator CMG + RW configuration optimization.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a configuration optimization method of a hybrid execution mechanism based on TU cooperative game manipulation law, which can provide a rule of configuration parameters of CMG + RW of the hybrid execution mechanism on the premise of ensuring that the CMG is not in a singular state.
The technical scheme is as follows: in order to realize the purpose, the invention adopts the following technical scheme:
a mixed execution mechanism configuration optimization method based on a TU cooperative game manipulation law comprises the following steps:
(1) selecting the configuration and the manipulation law of a hybrid execution mechanism CMG + RW;
(2) determining maximum frame angular velocity for an alternative CMG
Figure RE-GDA0002491114140000021
And optionally maximum angular acceleration of RW
Figure RE-GDA0002491114140000022
(3) Acquiring a control torque requirement according to a spacecraft attitude maneuver task requirement, and acquiring a maximum control torque;
(4) if u isx,max＞＞uy,maxAnd u isx,max＞＞uz,maxOr, uy,max＞＞ux,maxAnd u isy,max＞＞uz,maxOr, uz,max＞＞ux,maxAnd u isz,max＞＞uy,maxEntering the step (5) for the single-channel large-torque condition; if u isx,max≈uy,max＞＞uz,maxOr u isy,max≈uz,max＞＞ux,maxOr u isx,max≈uz,max＞＞uy,maxIf the two-channel large-torque output condition is adopted, entering the step (6); if u isx,max≈uz,max≈uy,maxIf the three-channel large-torque output condition exists, entering the step (7);
(5) matching the angular momentum of the CMG rotor and the RW rotary inertia according to the single-channel large-torque output condition;
(6) matching the angular momentum of the CMG rotor and the RW rotary inertia according to the two-channel large-torque output condition;
(7) matching the angular momentum of the CMG rotor and the RW rotary inertia according to the three-channel large-torque output condition;
(8) obtaining the angular momentum h of a single CMG rotor according to matching0And inertia moment J of a single RWRWA hybrid actuator is selected.
Further, the configuration of the hybrid executing mechanism CMG + RW in the step (1) comprises M control moment gyros CMG and N reaction flywheels RW, and a TU cooperation game manipulation law is selected as a hybrid executing mechanism manipulation law.
Further, the control torque requirement in the step (3) comprises the maximum control torque u of the x channel, the y channel and the z channelx,max、uy,maxAnd uz,maxAnd taking the maximum torque value as: u. ofmax＝max(ux,max,uy,max,uz,max)。
Further, in the step (5), the single-channel large-torque condition is matched with the hybrid actuating mechanism according to the following formula, and the angular momentum h of the single CMG rotor0And inertia moment J of a single RWRWIt should satisfy:
Figure RE-GDA0002491114140000031
umax,CMG＝umax,RW＝umax
wherein S isaIs a system singular measurement function, | Sa|minIs SaMinimum value of absolute value, umax,CMGAnd umax,RWRespectively CMG-based output performance and RW-based output performance,
Figure RE-GDA0002491114140000032
and
Figure RE-GDA0002491114140000033
the x-channel function, the y-channel function and the z-channel function of the kth CMG respectively,
Figure RE-GDA0002491114140000034
and
Figure RE-GDA0002491114140000035
the x-channel function, the y-channel function, and the z-channel function, respectively, of the kth RW, proceed to step (8).
Further, the double-channel large-torque output condition in the step (6) is matched with a hybrid executing mechanism according to the following formula, and the angular momentum h of a single CMG rotor0And inertia moment J of a single RWRWIt should satisfy:
Figure RE-GDA0002491114140000036
umax,CMG＝umax,RW＝umax；
wherein S isaIs a system singular measurement function, | Sa|minIs SaMinimum value of absolute value, umax,CMGAnd umax,RWRespectively CMG-based output performance and RW-based output performance,
Figure RE-GDA0002491114140000037
and
Figure RE-GDA0002491114140000038
the x-channel function, the y-channel function and the z-channel function of the kth CMG respectively,
Figure RE-GDA0002491114140000039
and
Figure RE-GDA00024911141400000310
the x-channel function, the y-channel function, and the z-channel function, respectively, of the kth RW, proceed to step (8).
Further, the three-channel large-torque output condition in the step (7) is matched with a hybrid executing mechanism according to the following formula, and the angular momentum h of a single CMG rotor0And inertia moment J of a single RWRWIt should satisfy:
Figure RE-GDA0002491114140000041
umax,CMG＝umax,RW＝umax；
wherein S isaIs a system singular measurement function, | Sa|minIs SaMinimum value of absolute value, umax,CMGAnd umax,RWRespectively CMG-based output performance and RW-based output performance,
Figure RE-GDA0002491114140000042
and
Figure RE-GDA0002491114140000043
the x-channel function, the y-channel function and the z-channel function of the kth CMG respectively,
Figure RE-GDA0002491114140000044
and
Figure RE-GDA0002491114140000045
the x-channel function, the y-channel function, and the z-channel function, respectively, of the kth RW, proceed to step (8).
Further, in the step (8), when the matched hybrid execution mechanism CMG + RW can meet the task requirement, the maximum value of the angular speed of the CMG frame
Figure RE-GDA0002491114140000046
And RW maximum angular acceleration
Figure RE-GDA0002491114140000047
With maximum control moment umaxThe following set of inequalities is satisfied:
Figure RE-GDA0002491114140000048
wherein the content of the first and second substances,
Figure RE-GDA0002491114140000049
and
Figure RE-GDA00024911141400000410
the x-channel function, the y-channel function and the z-channel function of the kth CMG respectively,
Figure RE-GDA00024911141400000411
and
Figure RE-GDA00024911141400000412
x-channel function, y-channel function and z-channel function, u, of the kth RW, respectivelymaxIs the maximum torque value, | Sa|minThe minimum value of the absolute value of the system singular measurement function of the hybrid execution mechanism CMG + RW.
Further, the hybrid actuator configuration in step (8) configures the minimum value | S of the absolute values of the system singular measurement functions of the hybrid actuators CMG + RWa|minInfluence, guarantee | Sa|minValue and sheetAngular momentum h of each CMG rotor0And the moment of inertia J of a single RWRWIn inverse proportion.
Has the advantages that: compared with the prior art, the hybrid execution mechanism CMG + RW is optimized in configuration according to specific design requirements for the first time, the hybrid execution mechanism CMG + RW is guaranteed to output control torque without error, and the mass, the volume and the energy consumption of the hybrid execution mechanism are reduced as far as possible, so that the hybrid execution mechanism CMG + RW is beneficial to miniaturization and light weight of a spacecraft, and the satellite payload is beneficial to increase.
Drawings
FIG. 1 is a flow chart of a hybrid execution mechanism CMG + RW configuration optimization method of the invention;
FIG. 2 is a curved surface visualization diagram of the configuration relationship of the CMG + RW configuration of the single-channel high-torque output hybrid actuating mechanism of the invention;
FIG. 3 is a two-channel large-torque output condition hybrid actuating mechanism CMG + RW configuration relation curved surface visualization diagram of the invention;
FIG. 4 is a three-channel large-torque output condition hybrid actuator CMG + RW configuration relation curved surface visualization diagram.
Detailed Description
The invention will be further explained with reference to the drawings.
A mixed execution mechanism configuration optimization method based on a TU cooperative game manipulation law can provide a rule of CMG + RW configuration parameter configuration of a mixed execution mechanism under the premise of ensuring that the CMG is not in a singular state. The method is characterized in that parameters of the hybrid execution mechanism CMG + RW are configured according to the maximum control moment required by design, wherein the parameters comprise the angular momentum of a CMG rotor, the maximum value of the angular speed of a frame, and the maximum value of the rotational inertia and the angular acceleration of the RW, so that the hybrid execution mechanism CMG + RW can perfectly output the control moment without output errors, the spacecraft attitude control task is finished with high precision, and the mass, the volume and the energy consumption of the spacecraft can be reduced by selecting the parameters of the optimal hybrid execution mechanism CMG + RW.
The hybrid execution mechanism configuration optimization method aims at the hybrid execution mechanism CMG + RW and is based on specific hybrid execution mechanism CMG + RWCombining the configuration of the actuating mechanism, and under the premise of adopting a mixed actuating mechanism TU cooperative game manipulation law, controlling the maximum control torque u according to the design requirementmaxSystem singular measurement function S of hybrid execution mechanism CMG + RWaAnd a maximum value of frame angular velocity of the selectable CMG
Figure RE-GDA0002491114140000051
Selectable maximum angular acceleration of RW
Figure RE-GDA0002491114140000052
Configuring parameters of a hybrid actuator CMG + RW, i.e. selecting the magnitude h of the angular momentum of the CMG rotor0Inertia moment of RW IRW。
As shown in fig. 1, the configuration optimization method for a hybrid actuator based on a TU cooperative game manipulation law according to the present invention includes the following steps:
(1) the configuration of the hybrid actuator CMG + RW is selected, which comprises M control moment gyros CMG and N reaction flywheels RW.
(2) And selecting the TU cooperative game manipulation law as a hybrid execution mechanism manipulation law.
(3) Determining maximum frame angular velocity for an alternative CMG
Figure RE-GDA0002491114140000061
And optionally maximum angular acceleration of RW
Figure RE-GDA0002491114140000062
(4) Obtaining the control torque requirement including the maximum control torque u of the x, y and z channels according to the spacecraft attitude maneuver task requirementx,max、uy,maxAnd uz,max。
(5) Taking the maximum torque value as umax＝max(ux,max,uy,max,uz,max)。
(6) If u isx,max＞＞uy,maxAnd u isx,max＞＞uz,maxOr, uy,max＞＞ux,maxAnd u isy,max＞＞uz,maxOr, uz,max＞＞ux,maxAnd u isz,max＞＞uy,maxIf the single-channel large-torque condition exists, entering the step (7); if u isx,max≈uy,max＞＞uz,maxOr u isy,max≈uz,max＞＞ux,maxOr u isx,max≈uz,max＞＞uy,maxIf the two-channel large-torque output condition is adopted, entering the step (8); if u isx,max≈uz,max≈uy,maxAnd (5) entering the step (9) for the three-channel large-torque output condition.
(7) Matching the angular momentum of the CMG rotor and the RW rotary inertia according to the single-channel large-torque output condition;
the single-channel large-torque condition is matched with a hybrid actuating mechanism according to the following formula, and the angular momentum h of a single CMG rotor0And inertia moment J of a single RWRWIt should satisfy:
Figure RE-GDA0002491114140000063
umax,CMG＝umax,RW＝umax；
wherein S isaIs a system singular measurement function, | Sa|minIs SaMinimum value of absolute value, umax,CMGAnd umax,RWRespectively CMG-based output performance and RW-based output performance,
Figure RE-GDA0002491114140000064
and
Figure RE-GDA0002491114140000065
the x-channel function, the y-channel function and the z-channel function of the kth CMG respectively,
Figure RE-GDA0002491114140000066
and
Figure RE-GDA0002491114140000067
x-channel function, y-channel function and z-channel function, respectively, of the kth RWAnd (4) counting.
System singular measurement function SaX channel function of kth CMG
Figure RE-GDA0002491114140000068
Y-channel function of kth CMG
Figure RE-GDA0002491114140000071
And z-channel function of kth CMG
Figure RE-GDA0002491114140000072
And the x-channel function of the kth RW
Figure RE-GDA0002491114140000073
Y-channel function of the kth RW
Figure RE-GDA0002491114140000074
And z-channel function of the kth RW
Figure RE-GDA0002491114140000075
The physical expressions are respectively related to the configuration of the hybrid actuator, taking the hybrid actuator composed of the pyramid-configured CMG system and the 3-RW orthogonal-configured RW as an example, the physical expressions are:
Figure RE-GDA0002491114140000076
Figure RE-GDA0002491114140000077
Figure RE-GDA0002491114140000078
wherein:
Figure RE-GDA0002491114140000079
Figure RE-GDA00024911141400000710
Figure RE-GDA00024911141400000711
Figure RE-GDA00024911141400000712
Figure RE-GDA00024911141400000713
Figure RE-GDA0002491114140000081
Figure RE-GDA0002491114140000082
wherein A isikIs the ith row and the kth column element, J of the system matrix ACMGikAs a unit CMG Jacobian matrix
Figure RE-GDA0002491114140000083
Row ith and column kth elements, SkAre adaptive parameters and have:
Figure RE-GDA0002491114140000084
Figure RE-GDA0002491114140000085
step (10) is entered.
(8) Matching the angular momentum of the CMG rotor and the RW rotary inertia according to the two-channel large-torque output condition;
the double-channel large-torque output condition is matched with a hybrid actuating mechanism according to the following formula, and the angular momentum h of a single CMG rotor0And inertia moment J of a single RWRWIt should satisfy:
Figure RE-GDA0002491114140000086
umax,CMG＝umax,RW＝umax；
entering a step (10);
(9) matching the angular momentum of the CMG rotor and the RW rotary inertia according to the three-channel large-torque output condition;
the three-channel large-torque output condition is matched with a hybrid actuating mechanism according to the following formula, and the angular momentum h of a single CMG rotor0And inertia moment J of a single RWRWIt should satisfy:
Figure RE-GDA0002491114140000091
umax,CMG＝umax,RW＝umax；
entering a step (10);
(10) obtaining the angular momentum h of a single CMG rotor according to matching0And inertia moment J of a single RWRWSelecting a hybrid actuator;
when the matched hybrid execution mechanism CMG + RW can meet the task requirement, the maximum value of the angular speed of the CMG frame
Figure RE-GDA0002491114140000092
And RW maximum angular acceleration
Figure RE-GDA0002491114140000093
With maximum control moment umaxThe following set of inequalities is satisfied:
Figure RE-GDA0002491114140000094
wherein, | Sa|minThe minimum value of the absolute value of the system singular measurement function of the hybrid execution mechanism CMG + RW.
Hybrid actuator configuration receivera|minInfluence, can guarantee | Sa|minValue andangular momentum h of single CMG rotor0And the moment of inertia J of a single RWRWIn inverse proportion.
As shown in FIGS. 2-4, taking as an example a hybrid actuator employing a CMG system of 4-CMG pyramid configuration and a RW system of 3-RW orthogonal configuration, let the moment of inertia of each RW be JRW＝0.005kg·m2Respectively obtaining a curved surface visualization diagram of the configuration relation of the CMG + RW configuration of the hybrid execution mechanism with a single-channel large-torque output condition, a double-channel large-torque output condition and a three-channel large-torque output condition, namely the angular momentum h of the CMG rotor0Normalized system singular metric function minimum
Figure RE-GDA0002491114140000101
And a maximum control moment umaxThe relationship between the two surfaces is shown in a graph, and the following conclusion is reached:
(1) in case of single-channel large-torque output, when h01Nms and
Figure RE-GDA0002491114140000102
the maximum control torque which can be output without error is umax＝1.2091Nm；
(2) In the case of two-channel large torque output, when h01Nms and
Figure RE-GDA0002491114140000103
the maximum control torque which can be output without error is umax＝0.8526Nm，
(3) In the case of three-channel large torque output, when h01Nms and
Figure RE-GDA0002491114140000104
the maximum control torque which can be output without error is umax＝0.7003Nm；
(4) When the angular momentum h of the CMG rotor is large0Or system singular metric function minimum Sa,minWhen the maximum control torque u is increased, the hybrid execution mechanism CMG + RW can ensure error-free outputmaxThe larger;
(5) in the same CMGAngular momentum of son0System singular metric function minimum Sa,minAnd RW moment of inertia JRWUnder the condition, the maximum output torque under the single-channel large-torque output condition is larger than that under the double-channel large-torque output condition, and the maximum output torque under the double-channel large-torque output condition is larger than that under the three-channel large-torque output condition.
In summary, according to the configuration optimization method for the hybrid execution mechanism based on the TU cooperative game manipulation law, provided by the invention, on the premise of ensuring that the CMG is not in a singular state, a rule for configuring the configuration parameters of the hybrid execution mechanism CMG + RW is given, that is, the parameters of the hybrid execution mechanism CMG + RW are configured according to the maximum control moment required by the design, including the angular momentum of the CMG rotor, the maximum frame angular velocity, the RW rotational inertia and the maximum angular acceleration, so that the hybrid execution mechanism CMG + RW can perfectly output the control moment without generating an output error, thereby ensuring that the spacecraft attitude control task is finished with high precision, and the parameters of the optimal hybrid execution mechanism CMG + RW are selected. According to the invention, configuration optimization is carried out on the hybrid actuating mechanism CMG + RW according to specific design requirements for the first time, the hybrid actuating mechanism CMG + RW is ensured to output a control torque without error, and the mass, the volume and the energy consumption of the hybrid actuating mechanism are reduced as much as possible, so that the hybrid actuating mechanism is beneficial to miniaturization and light weight of a spacecraft and is beneficial to increasing the effective load on the satellite.

Claims (8)

1. A mixed execution mechanism configuration optimization method based on TU cooperative game manipulation law is characterized by comprising the following steps:
(1) selecting the configuration and the manipulation law of a hybrid execution mechanism CMG + RW;
(2) determining maximum frame angular velocity for an alternative CMG
Figure RE-FDA0002491114130000011
And optionally maximum angular acceleration of RW
Figure RE-FDA0002491114130000012
(3) Acquiring a control torque requirement according to a spacecraft attitude maneuver task requirement, and acquiring a maximum control torque;
(4) if u isx,max＞＞uy,maxAnd u isx,max＞＞uz,maxOr, uy,max＞＞ux,maxAnd u isy,max＞＞uz,maxOr, uz,max＞＞ux,maxAnd u isz,max＞＞uy,maxEntering the step (5) for the single-channel large-torque condition; if u isx,max≈uy,max＞＞uz,maxOr u isy,max≈uz,max＞＞ux,maxOr u isx,max≈uz,max＞＞uy,maxIf the two-channel large-torque output condition is adopted, entering the step (6); if u isx,max≈uz,max≈uy,maxIf the three-channel large-torque output condition exists, entering the step (7);
(5) matching the angular momentum of the CMG rotor and the RW rotary inertia according to the single-channel large-torque output condition;
(6) matching the angular momentum of the CMG rotor and the RW rotary inertia according to the two-channel large-torque output condition;
(7) matching the angular momentum of the CMG rotor and the RW rotary inertia according to the three-channel large-torque output condition;
(8) obtaining the angular momentum h of a single CMG rotor according to matching0And inertia moment J of a single RWRWA hybrid actuator is selected.
2. The configuration optimization method for the hybrid executing mechanism based on the TU cooperative game manipulation law according to claim 1, wherein the configuration of the hybrid executing mechanism CMG + RW in the step (1) comprises M control moment gyros CMG and N reaction flywheels RW, and the TU cooperative game manipulation law is selected as the hybrid executing mechanism manipulation law.
3. The method as claimed in claim 1, wherein the control torque requirements in step (3) include x, y,Maximum control moments u of the y and z channelsx,max、uy,maxAnd uz,maxAnd taking the maximum torque value as: u. ofmax＝max(ux,max,uy,max,uz,max)。
4. The method of claim 1, wherein the configuration of the hybrid actuator is optimized based on TU cooperative game manipulation law, in the step (5), the single-channel high-torque condition is matched with the hybrid actuator according to the following formula, and the angular momentum h of the single CMG rotor is large0And inertia moment J of a single RWRWIt should satisfy:
Figure RE-FDA0002491114130000021
umax,CMG＝umax,RW＝umax；
wherein S isaIs a system singular measurement function, | Sa|minIs SaMinimum value of absolute value, umax,CMGAnd umax,RWRespectively CMG-based output performance and RW-based output performance,
Figure RE-FDA0002491114130000022
and
Figure RE-FDA0002491114130000023
the x-channel function, the y-channel function and the z-channel function of the kth CMG respectively,
Figure RE-FDA0002491114130000024
and
Figure RE-FDA0002491114130000025
the x-channel function, the y-channel function, and the z-channel function, respectively, of the kth RW, proceed to step (8).
5. The hybrid actuator mechanism based on TU cooperative game manipulation law according to claim 1The type configuration optimization method is characterized in that the double-channel large-torque output condition in the step (6) is matched with a hybrid execution mechanism according to the following formula, and the angular momentum h of a single CMG rotor0And inertia moment J of a single RWRWIt should satisfy:
Figure RE-FDA0002491114130000026
umax,CMG＝umax,RW＝umax；
wherein S isaIs a system singular measurement function, | Sa|minIs SaMinimum value of absolute value, umax,CMGAnd umax,RWRespectively CMG-based output performance and RW-based output performance,
Figure RE-FDA0002491114130000027
and
Figure RE-FDA0002491114130000028
the x-channel function, the y-channel function and the z-channel function of the kth CMG respectively,
Figure RE-FDA0002491114130000029
and
Figure RE-FDA00024911141300000210
the x-channel function, the y-channel function, and the z-channel function, respectively, of the kth RW, proceed to step (8).
6. The configuration optimization method for the hybrid actuator based on the TU cooperative game manipulation law according to claim 1, wherein the three-channel high-torque output condition in the step (7) is matched with the hybrid actuator according to the following formula, and the angular momentum h of a single CMG rotor0And inertia moment J of a single RWRWIt should satisfy:
Figure RE-FDA0002491114130000031
umax,CMG＝umax,RW＝umax；
wherein S isaIs a system singular measurement function, | Sa|minIs SaMinimum value of absolute value, umax,CMGAnd umax,RWRespectively CMG-based output performance and RW-based output performance,
Figure RE-FDA0002491114130000032
and
Figure RE-FDA0002491114130000033
the x-channel function, the y-channel function and the z-channel function of the kth CMG respectively,
Figure RE-FDA0002491114130000034
and
Figure RE-FDA0002491114130000035
the x-channel function, the y-channel function, and the z-channel function, respectively, of the kth RW, proceed to step (8).
7. The method as claimed in claim 1, wherein the configuration optimization method for the hybrid actuator based on the TU cooperative game manipulation law is characterized in that in the step (8), when the matched hybrid actuator CMG + RW can meet the task requirement, the maximum value of the angular velocity of the CMG frame is
Figure RE-FDA0002491114130000036
And RW maximum angular acceleration
Figure RE-FDA0002491114130000037
With maximum control moment umaxThe following set of inequalities is satisfied:
Figure RE-FDA0002491114130000038
wherein the content of the first and second substances,
Figure RE-FDA0002491114130000039
and
Figure RE-FDA00024911141300000310
the x-channel function, the y-channel function and the z-channel function of the kth CMG respectively,
Figure RE-FDA00024911141300000311
and
Figure RE-FDA00024911141300000312
x-channel function, y-channel function and z-channel function, u, of the kth RW, respectivelymaxIs the maximum torque value, | Sa|minThe minimum value of the absolute value of the system singular measurement function of the hybrid execution mechanism CMG + RW.
8. The method as claimed in claim 1, wherein the hybrid actuator configuration optimization method based on TU cooperative game manipulation law is characterized in that in the step (8), the hybrid actuator configuration is configured with the minimum value | S of the absolute values of the system singular measurement functions of the hybrid actuators CMG + RWa|minInfluence, guarantee | Sa|minValue and single CMG rotor angular momentum magnitude h0And the moment of inertia J of a single RWRWIn inverse proportion.
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